- refactored

- created TempSensorFactory

brewpi.py

@@ -2,10 +2,11 @@ import asyncio
 from time import sleep
 import abc
 from ws.server.ws_server_multi_user import WsServerMultiUser
-from components.sensor.tempSensorSim import TempSensorSim, ATemperatureSensor
+from components import ATemperatureSensor
-from components.plant.pot import Pot, APlant
+from components.sensor import TempSensorFactory
+from components.pid import TempController
+from components.plant import Pot, APlant
 from components.actor.heater import Heater, AHeater
-from components.pid import kalman, temp_controller
 from ws.message import MsgIo, MessageDispatcher
 from utils.value import Value, ChangedFloat, ChangedInteger
 
@@ -148,7 +149,7 @@ class PotTask(ATask):
 
 
 class TcTask(ATask):
-	def __init__(self, tc: temp_controller.TempController, interval, msg_handler: MsgIo):
+	def __init__(self, tc: TempController, interval, msg_handler: MsgIo):
 		ATask.__init__(self, interval)
 
 		self.tc = tc
@@ -242,7 +243,7 @@ if __name__ == '__main__':
 		taskmgr = TaskManager()
 
 		# Sensor
-		sensor = TempSensorSim()
+		sensor = TempSensorFactory.create("sim")
 		taskmgr.add(TempSensorTask(sensor, DT_CTRL, dispatcher.msgio_get("Sensor")))
 
 		# Plant
@@ -291,7 +292,7 @@ if __name__ == '__main__':
 			"var_R"		: 1
 		}
 
-		tc = temp_controller.TempController(tc_params, kalman_params)
+		tc = TempController(tc_params, kalman_params)
 		tc.set_on_changed("y", heater_task.actor)
 		tc_task = TcTask(tc, DT_CTRL, dispatcher.msgio_get("TempCtrl"))
 		taskmgr.add(tc_task)

components/__init__.py

@@ -0,0 +1 @@
+from components.atemperatureSensor import *

components/pid/__init__.py

@@ -0,0 +1,3 @@
+from components.pid.pid import *
+from components.pid.kalman import *
+from components.pid.temp_controller import *

components/pid/temp_controller.py

@@ -1,7 +1,6 @@
-from components.pid import pid
-from components.pid import kalman
 from components.plant.pot import Pot
 from matplotlib.pyplot import plot, figure, subplot, title, xlabel, ylabel, grid, show, legend
+from components.pid import Pid, Kalman
 import numpy as np
 from utils.value import AttributeChange
 from enum import Enum
@@ -17,8 +16,8 @@ class TempController(AttributeChange):
 	def __init__(self, params_pid, params_kalman):
 		AttributeChange.__init__(self)
 
-		self.pid_hold = pid.Pid(params_pid['Hold'])
+		self.pid_hold = Pid(params_pid['Hold'])
-		self.pid_rate = pid.Pid(params_pid['Heat'])
+		self.pid_rate = Pid(params_pid['Heat'])
 		self.theta_ist_set = 20
 		self.theta_soll_set = 0
 		self.heatrate_ist_set = 0
@@ -27,7 +26,7 @@ class TempController(AttributeChange):
 		self.theta_ist = 0
 		self.heatrate_ist = 0
 		self.params = params_pid
-		self.kalman = kalman.Kalman(params_kalman)
+		self.kalman = Kalman(params_kalman)
 		self.y = -1
 		self.state = States.IDLE
 		self.use_kalman = True

components/plant/__init__.py

@@ -0,0 +1 @@
+from components.plant.pot import *

components/plant/pot.py

@@ -1,4 +1,3 @@
-import numpy as np
 from components.aplant import APlant
 
 
@@ -43,5 +42,4 @@ class Pot(APlant):
 		return round(self.power_actual, 1)
 
 	def getTemperature(self):
-		#return round(self.theta + self.theta_amb + self.kn * np.random.normal(0, 1) / np.sqrt(12.0), 1)
+		return self.temp
-		return self.temp

components/sensor/__init__.py

@@ -0,0 +1,3 @@
+from components.sensor.tempSensorSim import *
+from components.sensor.tempsensor_factory import *
+from components.sensor.tempSensorSim import ATemperatureSensor

components/sensor/tempSensorSim.py

@@ -1,4 +1,4 @@
-from components.atemperatureSensor import ATemperatureSensor
+from components import ATemperatureSensor
 import numpy as np
 
 

components/sensor/tempsensor_factory.py

@@ -0,0 +1,8 @@
+from components.sensor.tempSensorSim import TempSensorSim
+
+
+class TempSensorFactory:
+	@staticmethod
+	def create(name):
+		if "sim" in name:
+			return TempSensorSim()